Swapped team numbers and finalized the calibration on both bots.
Change-Id: Ie2682518dd22494ba1c9b4f0b7f92f6303eb6393
diff --git a/frc971/constants.cc b/frc971/constants.cc
index a8898a8..385efdb 100644
--- a/frc971/constants.cc
+++ b/frc971/constants.cc
@@ -32,7 +32,7 @@
// ///// Drivetrain Constants
// These three constants were set by Daniel on 2/13/15.
-const double kDrivetrainEncoderRatio = 20.0 / 64.0;
+const double kDrivetrainEncoderRatio = 20.0 / 50.0;
const double kLowGearRatio = kDrivetrainEncoderRatio * 20.0 / 50.0;
const double kHighGearRatio = kLowGearRatio;
@@ -158,7 +158,7 @@
kMaxAllowedLeftRightElevatorDifference,
};
break;
- case kCompTeamNumber:
+ case kPracticeTeamNumber:
return new Values{
kDrivetrainEncoderRatio,
kArmEncoderRatio,
@@ -227,7 +227,7 @@
kMaxAllowedLeftRightElevatorDifference,
};
break;
- case kPracticeTeamNumber:
+ case kCompTeamNumber:
return new Values{
kDrivetrainEncoderRatio,
kArmEncoderRatio,
@@ -281,12 +281,13 @@
{kZeroingSampleSize, kElevatorEncoderIndexDifference,
0.011367 + 0.003216},
// Arm zeroing constants: left, right.
- {kZeroingSampleSize, kArmEncoderIndexDifference, -0.312677},
- {kZeroingSampleSize, kArmEncoderIndexDifference, -0.40855},
+ {kZeroingSampleSize, kArmEncoderIndexDifference, 0.060592},
+ {kZeroingSampleSize, kArmEncoderIndexDifference, 0.210155},
+
0.72069366666666679 - 0.026008,
-0.078959636363636357 - 0.024646,
- -3.4952331578947375 + 0.011776,
- 3.5263507647058816 - 0.018921 + 0.006545,
+ -3.509611 - 0.007415 - -0.019081 - 0.029393 - -0.013585,
+ 3.506927 - 0.170017 - -0.147970 - 0.005045 - -0.026504,
kArmZeroingHeight,
kElevatorNormalHeight,